CN103221805B - The raindrop on glass pane are detected by means of video camera and illuminator - Google Patents
The raindrop on glass pane are detected by means of video camera and illuminator Download PDFInfo
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- CN103221805B CN103221805B CN201180056008.4A CN201180056008A CN103221805B CN 103221805 B CN103221805 B CN 103221805B CN 201180056008 A CN201180056008 A CN 201180056008A CN 103221805 B CN103221805 B CN 103221805B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
- B60S1/0833—Optical rain sensor
- B60S1/0844—Optical rain sensor including a camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
- G01N21/552—Attenuated total reflection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/41—Refractivity; Phase-affecting properties, e.g. optical path length
- G01N21/43—Refractivity; Phase-affecting properties, e.g. optical path length by measuring critical angle
- G01N2021/435—Sensing drops on the contact surface
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- Immunology (AREA)
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- Automation & Control Theory (AREA)
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- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The present invention relates to a kind of for identifying the apparatus and method of rainwater (4), including video camera (1) and lighting source (3).Video camera (1) is arranged in after glass (2), especially after vehicle interior windshield, and focuses on the remote zone in glass (2) front.For producing at least one directive glass (2) light beam (h；N) lighting source (3), to one light beam (h of major general；N) directive glass (2), so that at least one light beam (r2 reflected from glass outer side (2.2)；R2 ') it is radiated on video camera (1).Light beam (the r2 of at least one directive video camera (1)；R2 ') light quantity can be measured by video camera (1).
Description
Technical field
The present invention relates to a kind of by means of lighting source and video camera to detect the apparatus and method of raindrop on glass pane.
Background technology
In WO2010/072198A1, by means of for driver's miscellaneous function video camera to rainy identify into
Row explanation.Rainy identification uses a bifocal lens group to carry out.This battery of lens can be by the part district of windshield
Territory clearly projects on an area of camera review chip or imageing sensor.
This imagined is disadvantageously, an additional optics need to be installed, and its edge rains at image chip and passes
Severe jamming is caused in the beam trend in sensor region and the driver assistance function region of adjacent edges.Especially with little
When size realizes, there is huge difference in the focused condition in driver assistance region and rain sensor region, and this must be by increasing
The thickness adding optical element is balanced, and thus cause interference with wider on increase and perimeter image chip can not
Use region.
Another shortcoming is to produce under different glass pane gradients, and different gradients causes above image chip
The rain sensor search coverage rain sensor surface corresponding from glass pane between different light path.Additionally, in order to really
Protect optical imagery clearly, it is necessary to for the change of various installation situation, the thickness of optical element is adjusted.
In order to also be able to identify raindrop at night, advise in WO2010/072198A1, will be optically coupled into by coupling element
Windshield, and make it inject glass pane by total reflection.By a decoupling element, by total reflection light at camera direction coupling
Go out.If water droplet is on the windshield, a part of light will be coupled out, and no longer be entirely reflected to decoupling element.Here, the most again
Secondary have a negative impact, it is necessary to for the change of each glass pane gradient, integrated video camera illuminator is carried out machinery adjustment
And coupling.
At US7, in 259,367B2, also suggest that and carry out rainwater sensing by video camera.It is provided by windshield
The large area lighting penetrating window of camera angles.This video camera almost focuses on infinite place, therefore can be simultaneously used for driving
Member's assistance application.Owing in remote zone imaging, raindrop are aware only as image disruption.By same by pixel clock
The complicated difference measurement of image captured by the light of pace pulse or modulation detects these interference.
But, show, in this kind of illuminator, raindrop only have the light quilt of small part calculating from simulation and measure
It is reflected back video camera.This situation result in the signal to noise ratio of bad luck, and thereby results in the unreliable of rainwater identification.
Summary of the invention
The task of the present invention is, overcomes known devices and the disadvantages mentioned above of method under prior art.
By a kind of, this task includes that video camera and lighting source identify that the device of rainwater completes.Camera arrangements exists
After glass pane, especially after the inside of vehicle, such as windshield, and focus on the remote zone in glass pane front.
Video camera preferably comprises a condenser lens and an imageing sensor, such as: CCD or cmos sensor.For producing at least
The lighting source of the light beam of one alignment glass pane, to major general's light beam directive glass pane, so that at least one is from glass pane
The light beam (or penetrating the segment beam on glass) of lateral reflection arrives at video camera.Lighting source one or more light-emitting diodes
Pipe (LED) or light belt.
The light quantity of this at least one light beam of video camera can be arrived at by video camera measurement.
Present invention illustrates a kind of by vehicle-mounted vidicon, particularly driver assistance video camera detection rainwater simple,
Method reliably.Because a light quantity the most only need to be measured, so without complicated image processing algorithm.By effectively shining
Bright, this kind of device is relatively easily by external disturbance, as affected by sun reflection and cast shadow.
Such as, under multiple beam lighting source, can be by the outside all luminous reflectance of windshield (on the image sensor)
Light quantity reduce and/or by affected luminous reflectance quantity, measure rainfall.
In a preferred embodiment, the angle of incidence of the produced light beam of lighting source arranges as follows, if i.e. outside glass
There is no rainwater on side, arrive at light beam (part) its reflecting part of glass outer side more than emission parts from glass.
According to a kind of Advantageous embodiments, this equipment includes analytic unit, and this analytic unit is by anti-on glass outer side
The measured light quantity of the light beam penetrated is to determine glass outer side whether rain, if rain, it is determined that there are how many rainwater.
For measuring the analytic unit of rainwater preferentially by the light quantity and measured by the light beam of reflection on glass outer side
Individual threshold value is compared.This threshold value especially can be according to the change of intensity of illumination, and/or the change of camera sensitivity is adjusted
Whole, such as periodic calibration in dry glass.It addition, be used as multiple threshold value.
Analytic unit can advantageously determine, light beam measured by camera image sensor, reflection on glass outer side
Light value time change.To this end, available video camera shooting a series of images.
In a preferred embodiment, lighting source is to major general's light beam directive glass, so that outside is anti-in glass
The light beam that the light beam penetrated is spatially separating as at least two arrives at video camera.In the case, at least two arrives at video camera
The light quantity of light beam can be measured by video camera.The light beam of video camera is reflected, arrived to (directly) on glass inner side, is now preferably used as
Reference signal, because no matter glass outer side is either with or without raindrop, the light quantity of this light beam keeps constant.
Use illuminator detection mode suggested herein need not rely on video camera, but can survey by using various energy
The optical pickocff of fixed two light beam light quantities being spatially separating measures.Relative to traditional diode rain sensor, this
In the detection mode introduced according to being, it is not necessary to incoupling optical system, have one for the reference beam comparing measurement simultaneously.
It is preferable that, video camera is used for other driver based on analysis long-range scope focusing imaging one or more
Miscellaneous function.
An Advantageous embodiments according to the present invention, lighting source is structurally integrated in video camera or its housing.
Here, lighting source is preferably arranged on enclosure interior video camera covering plate or observes cone (Sichttrichter) below.
In this case, lighting source is conducive to producing the light of infrared wavelength range, and covering plate is at least being positioned at
Above lighting source or the subregion of lighting source direction of illumination, is printing opacity in infrared wavelength range.
In the case, lighting source can be in particular arranged on the circuit board of circuit carrier or video camera.
Lighting source the most only produce such as in (closely) infrared wavelength range, there is wavelength in particular range of wavelengths
Light.In video camera light path, the first spectral filter is arranged on what the reflection light beam that at least two is spatially separating passed therethrough
In region.First spectral filter makes to have the light of wavelength in this particular range of wavelengths and penetrates (ratio the most on a large scale
As: infrared-transparent device).
Second spectral filter is advantageously placed at the light that the reflection light beam that at least two is spatially separating does not passes therethrough
In the range of road, light (such as, the infrared light wave arrestment dress of wavelength in wherein the second spectral filter prevention has particular range of wavelengths
Put).
One or two spectral filter preferably can be directly installed in the pixel of camera image sensor.
In a kind of advantageous embodiment, lighting source produces the light beam assembled.
Light beam produced by lighting source preferably can be by optical conductor such as optical fibers directive glass.
Moreover, it relates to a kind of method for identifying glass outer side rainwater.The premise of this respect is also to arrange
The video camera of remote zone after glass, before pint glass, and a lighting source, it produces at least one directive glass
Light beam.This light source is by this at least one light beam directive glass, so that at least one arrives at from the light beam of glass outer side reflection
Video camera.Use video camera can measure the light quantity of this at least one light beam reflected from glass outer side.By to this at least one
Light beam light quantitative analysis from glass outer side reflection, it may be determined that the rainwater of glass outer side.
One for identifying that the present device of glass outer side rainwater is preferably used method.First, close at lighting source
Time, shoot the first image with video camera.Subsequently, when lighting source is connected, the second image is shot.So, by second and
One image forms difference image.In difference image, analyze the light of at least one light beam reflected on glass outer side described
Amount, thus detect the rainwater on glass outer side.
At a kind of visible ray as in the favourable application mode of illumination, it is necessary to ensure that traffic participant is not done by visible ray
Disturb.
To this end, suggestion uses a short visible light pulses matched with outside light intensity.Rain sensor image
Only need the shortest time of exposure and photo opporunity, do not have anything to affect driver assistance function.If looking at this illumination straight, this type of
Light pulse only the most just can be seen.Little light is only needed night to carry out rainwater detection.Here, intensity can be correspondingly
Weaken so that light also will not form interference effect at night.
A kind of Optimum Matching (being not dependent on the used wave-length coverage) still further advantage of intensity of illumination.Rain and pass
The luminous reflectance of sensor is the most high-visible, and avoids image to be in saturation at night and stop quantitative analysis.
Illumination can be realized advantageous by each light emitting diode of such as arranged in series.Also available light band is carried out
Substitute.In this case, it is preferable to guarantee the abundant orienting reflex feature of e.g., less than ± 20 °.
Accompanying drawing explanation
Hereinafter, will the present invention will be further described by drawings and Examples.Wherein,
Fig. 1 schematically shows lighting source and the possibility of video camera of a kind of light path having in the case of dry glass
The ultimate principle arranged；
The light path of change when Fig. 2 schematically shows rain on glass；
Fig. 3 show by video camera imageing sensor detect it can be inferred that rain signal；
Fig. 4 shows a kind of arrangement, and wherein the light beam in glass inner side reflection is only partially imaged on video camera figure
As on sensor；
Fig. 5 shows a kind of arrangement, the focusing being wherein imaged onto on imageing sensor remote reflection beam combination
Journey region；
Fig. 6 a shows a kind of bayer-pattern as wave filter picture element matrix；
Fig. 6 b shows the modified model bayer-pattern of a kind of band non-color filter pixel element；
Fig. 7 diagrammatically illustrates lighting source and video camera another kind alternative arrangement mode, and wherein lighting source is arranged
On circuit carrier below video camera covering plate；
The light path of change in alternative arrangement mode when Fig. 8 diagrammatically illustrates rain on glass；
Fig. 9 and 10 diagrammatically illustrates and uses alternative arrangement mode by measuring anti-in raindrop of lighting source main beam
Penetrating part and carry out the other method detected of raining, if rain on glass, this reflecting part branch injects video camera.
Figure 11 shows a kind of arrangement, and wherein the light from lighting source is directed to glass through optical conductor.
Detailed description of the invention
Fig. 1 illustrates the principle of work and power of first embodiment of the invention.Rainwater identification described here is based at a distance
Focusing camera 1 and illuminator 3, with US7, in 259,367B2, large area lighting is contrary, and this illuminator uses one or many
The light beam h of individual gathering.
Produced one of them light beam h of lighting source 3 is fired to glass 2 so that from glass inner side 2.1 and outside 2.2
The light beam of reflection is spatially separating light beam r1, r2 as two and is radiated on camera lens and video camera 1.Owing to focusing on long-range model
Enclosing, beam edge can only be imaged on image chip 5 faintly.But, two light beams r1, r2 are sufficiently separated, and can be by figure
As its respective light quantity measured by sensor 5.
In this embodiment, using the main beam h of lighting source 3, therefore, the light of lighting source preferably may be used
To be convergence.Main beam is used as reference light at the reflecting part r1 of air-glass interface (glass inner side 2.1 in other words)
Bundle.Transmitting the segment beam t1 into glass and be used as measuring beam r2, it is at air-glass interface (glass outer side in other words
2.2) reflected and arrived video camera 1.Repeatedly in beam section (2.2 reflection outside glass air of glass 2 internal reflection
After, 2.1 reflection inside glass air) have been not shown.
The advantage of this arrangement is, as in figure 2 it is shown, when glass outer side 2.2 rain 4, can produce significantly letter
Number change.
If the outside 2.2 of 4 windshield 2 is drenched in the case of raining, major part light t1 will be disconnected, the most anti-
Penetrate part r2 ' weakened (seeing Fig. 2) by corresponding.The reflection light beam r1 of inner side 2.1 does not suffers from this.
By institute's photometric quantity of r2 or r2 ' is compared by two light beam r1, can be easy to measure and weaken in the rain 4
Signal r2 ', and wiper is controlled accordingly.
For making illuminator 3 not stimulate driver and other traffic participants, especially can use near infrared light, typically be made
CCD or cmos image chip 5 near infrared light is had the highest sensitivity.
Want the interference such as noise, daylight, sunlight and other artificial light sources insensitive, it is proposed that be preferably synchronized with image
Read clock and light source 3 is carried out time-modulation partially or completely, in order to interference can be removed by simple differentiating method.This is
A kind of method improving signal to noise ratio.Another kind of method is to use suitable spectral filter: light beam is to r1, r2/r2 ' irradiated
Image chip 5 cross section can configure a band and leads to, and the wavelength of its illumination apparatus 3 has high-transmission rate.
Fig. 3 shows for imageing sensor 5 upper part 6 identified that rains, and has seven pairs of illumination light reflections 8,9 respectively, its
Such as formed as the LED of light source 3 by seven.The reflection of these illumination light obscures into owing to video camera 1 at infinity focuses on
Picture, but noticeable.Especially can measure intensity and the light quantity of light.Top lighting luminous reflectance 8 is by inside windshield 2 2.1
The light beam r1 of reflection produces, and bottom illumination light reflection 9 is by light beam r2, r2 of reflection upper outside windshield ' produce.
In order to realize driver assistance function by camera review simultaneously, light beam must not disturb driver to 8,9
Assistant images 7.To this end, select a region 6 in figure 3, it is positioned on image chip 5 outside driver assistance image 7.
Thus, Fig. 3 shows exemplary point on image chip 5 in driver assistance region 7 and rain sensor region 6
Join.The illumination light reflection of outer windshield 9 (has raindrop semi-finals degree weakened above it.This illumination light reflection 9 comes from windshield 2
The light beam r2 ' of outer lateral reflection, its strength reduction, because being transmitted into most of light beam t1 of windshield 2 through raindrop 4 from the glass that keeps out the wind
Glass reflects away t2 ', is the most no longer returned video camera 1 by reflection r2 '.As can be seen here, this illumination light reflection 9 carries outside glass 2
The relevant information of side 2.2 whether rain 4, and can be used alone as its light quantity measuring signal.This analytical calculation such as may be used
By with a threshold ratio compared with, reflected being compared to each other and/or by analyzing this luminous reflectance 9 of more than 9 light quantity by this illumination light
The time of at least one light quantity changes and implements.
Want farthest to avoid illuminating 3 interference caused, also can be on the bell glass of image chip 5, until driving
The upper edge of member's auxiliary area 7, one infrared trap of vapour plating.Additionally, as it has been described above, at rain sensor detection zone
On territory 6, vapour plating one is for the band filter illuminating 3 wavelength.
As an alternative, this wave filter also can be directly mounted in the pixel of imageing sensor 5.This have the advantage that,
Avoid on bell glass inclined for the parallax of the various filter skirt in rain sensor region 6 and driver assistance region 7 generation
Move.Advantageously, will appear from a process here, it is currently installed on corresponding to pixel color filter.So can be by two regions
6,7 separate with pixel precision, thus can avoid the additional machinery tolerance trail produced in production process.Related to this, will put
Abandon (red R, yellow G, the black B) color filter installing rain sensor region 6, thus promote detection sensitivity of raining.
Fig. 4 shows illumination spot and the part illustration of illumination light reflection 8 on image chip 5.
Implementing variant according to one, the upper area of rain sensor 6 the most necessarily comprises from windshield 2.1 inner surface
Reflection 8 because through rainwater 4 light change be visible on lower hot spot 9.Therefore, only this bit, just can enough make
For measuring signal, and such as compare with light quantity threshold value.If measuring signal to be more than or equal to threshold value, can be concluded that glass is
Do.In contrast, if measuring signal less than threshold value, can be concluded that outside glass 2 that 2.2 exist rainwater 4.Measure signal and compare threshold
Be worth low must be the most, illustrate that the rainwater on glass 2 is the most.This is embodied as variant and provides one and can be greatly reduced rain sensor
The probability in 6 regions.
But, in this enforcement variant, top speckle 8 is cancelled from Fig. 4, and as quantity of reference light therefor, this may compare
The fluctuation of Mingguang City has a negative impact.In order to avoid this shortcoming, rain sensor 6 upper area preferably decreases to only top light
Speckle 8 is the most partially visible.This is illustrated in the diagram.
Fig. 5 shows driver assistance region 7 or remote imaging and rain sensor region 6 or illumination light reflection 8,9
The space overlapping of broad image.If the structure assembly of image chip 5 or illumination does not allow hot spot 8,9 and driver assistance region
7 are spatially separating imaging enough sizes, the most such as, can pass through driver assistance image reverse shot rain sensor hot spot
Additional images.In shooting driver assistance image process, illumination light 3 is closed, when shooting rain sensor image, will
Illumination light reopens.
This provides the advantage that for rainwater sensing simultaneously, can form a difference contrasted with previous driver assistance image
Image, such background signal is significantly reduced, and ideal style is, the rain sensor image of the most remaining hot spot 8,9.
Driver assistance video camera 1 often has an infrared trap, reducing the Requirement of Spectrum of optical system and/or
Realize more preferable colour recognition.(red, yellow, black) color filter in used each pixel of image chip 5 at present, at infrared spectrum
Scope the most usually has highly transmissive, thus reduces the selectivity of color.
If driver assistance region 7 and rain sensor region 6 space overlapping as shown in Figure 5, infrared resistance can not be used
Ripple device, maybe should move to visible-range by the wavelength of illumination light 3.
If using more preferable infrared light impervious R, G, B color filter, by flexible selective color filter pattern, can
Union space shoots rain sensor hot spot 8,9 and driver assistance image 7 overlappingly simultaneously.
Fig. 6 a shows very universal bayer-pattern R-G-G-B, and red green and green is blue.
Fig. 6 b shows the example of rectification pattern R-N-G-B, and wherein neutral pixel N does not the most possess color filter, because of
This, it is seen that light and infrared light are permeable.Only these " white " pixels N are for sensing of raining.Additionally, when shooting for twice
Between when separating, they can also be used for driver assistance function, quick with improve under the dynamic property of image chip 5 and dark surrounds
Perception.
Showing a kind of illuminator 3 with light path in fig. 1 and 2, this light path is close to the angle of total reflection in glass 2
Degree.In shown layout, when there are raindrop 4 on glass 2, signal intensity is particularly evident.
But, lighting source 3 is arranged in below video camera 1, the outside of tight dress type camera housing, and this will bring structure
Limitation and drawback.
Fig. 7 and Fig. 8 shows another kind of alternative arrangement mode, has an advantage in that, lighting source 3 can be integrated into video camera 1
In, it is integrated into or rather in camera housing.
If the subtended angle of illuminator (generally by LED) is sufficiently large, lighting source 3 may also placed in video camera 1
Portion, is placed on the circuit board 12 of camera body as shown.Thus can produce a kind of significant integrated advantage.
In order to the raindrop 4 on reliable recognition glass 2, light beam r2 is reflected in the outside 2.2 of lighting source 3 secondary beam n
And the relative efficacy between inner reflection light beam r1, is proved to be easily to measure with enough.
If infrared light is used for illuminating, and lighting source 3 is arranged in a covering plate as shown in Figure 7 and observes cone 11
Lower section, covering plate 11 must at least light beam n) send from light source 3 be irradiated to the region of 2 warps of glass to infrared light should be
Bright.
Fig. 8 shows outside glass 2 2.2 situations of change when there are raindrop 4:
Here, raindrop 4 also result in and a kind of are mapped to glass front region, higher light injection t2 ' effect from glass.Shooting
The intensity that weakens of beamlet r2 ' can thus be measured by machine 1, and beamlet 2.2 is reflected outside glass 2.
In this embodiment, not using the main beam h of lighting source, and use secondary beam n, this secondary beam is led to
Cross the beamlet r1 that the reflection on glass 2 is spatially separating as at least two;r2;R2 ' is radiated on video camera 1.Additionally, light
Bundle path can be compared with shown in Fig. 1 and Fig. 2 with ratio, and the use of reference is identical.
Detection mode shown in Fig. 1 with Fig. 2 and Fig. 7 with Fig. 8 based on (similar with classical optics rain sensor) at glass
Outside glass 2 2.2 wet in the case of detect the minimizing of light.
Additionally, in arranging at this, as shown in Figure 9 and Figure 10, also use main beam h reflection light rh on raindrop 4 to enter
Row rains and detects.
Fig. 9 shows the situation in dry glass 2: as shown in Fig. 7 of secondary beam n, and anti-on 2.1 inside glass 2
Penetrate part rn1 and cause the referenced strength on imageing sensor 5, main beam h imaging the most on a sensor.As long as reference only being detected
The illumination light reflection of light beam rn1, so that it may determine do not have rainwater 4 on glass 2.
As shown in Figure 10, the raindrop 1 outside windshield 2 make sub-fraction rh in main beam reflect in raindrop 4 so that it is
It is radiated on video camera 1.Therefore, except the illumination light of reference beam rn1 reflects, can reflect from one or more illumination light here
Appearance infer whether rainwater 4 exists.
Certainly, it is possible to two kinds of detection modes (Fig. 7+Fig. 8 and Fig. 9+Figure 10) are combined, detect to improve to rain and more have
Prevent to power the interference of environmental effect (background that is continually changing, sunlight reflection, automobile front lamp etc.).
Figure 11 shows another kind of embodiment, and layout therein comprises optical conductor 13.In order to simplify illuminator 3 in shooting
Integrated in machine 1 housing, and light beam h is directed to the ad-hoc location of windshield 2, need exist for using optical conductor 13.Especially
It is, the beamlet r2 that so can will be reflected on outside windshield 2 2.2;The luminous reflectance 9(of r2 ' is for detection of raining) side
Just it is positioned on the image chip 5 outside driver assistance region 7.Therefore, rainy Cleaning Principle such as Fig. 7 and Fig. 8 institute
Show, simply instead of the secondary beam (n in Fig. 7+Fig. 8) of illuminator 3, import main beam h by optical conductor 13 accordingly.
Reference numerals list
1 video camera
2 glass
2.1 glass inner side
2.2 glass outer side
3 lighting sources
4 rainwater, raindrop
5 imageing sensors
6 rain sensor regions
7 driver assistance regions
The illumination light reflection of 8 glass inner sides
The illumination light reflection of 9 glass outer sides
10 have signal intensity during raindrop
11 covering plates
12 circuit carriers
13 optical conductors
H main beam
N secondary beam
The part that r1 h and n is reflected at glass inner side
The part that t1 h and n is transmitted at glass inner side
The part that r2 t1 is reflected at glass outer side
The part that t2 t1 is transmitted at glass outer side
R2 ', if glass outer side rain, is equivalent to r2
T2 ', if glass outer side rain, is equivalent to t2
The part that th1 main beam is transmitted at glass inner side
The part that th2 th1 is transmitted at glass outer side
Th2 ', if glass outer side rain, is equivalent to th2
Rh th2 ' reflexes to the part of video camera in raindrop
The part that rn1 n is reflected at glass inner side
R is at the filter element of red wavelength range light-permeable
G is at the filter element of green color wavelength range light-permeable
B is at the filter element of blue wavelength region light-permeable
N is at visible ray and/or the filter element of infrared wavelength range light-permeable
Claims (18)
1. it is used for identifying that the device of rainwater (4) including:
-it is arranged in glass (2) video camera (1) below, wherein video camera focuses on the remote zone being positioned at glass (2) front,
-lighting source (3), for producing at least one light beam (h of directive glass；N), wherein lighting source (3) by described extremely
A few light beam (h；N) glass (2) so it is emitted directly toward so that at least one light that (2.2) are partially reflective outside glass (2)
Bundle (r2；R2 ') and the light of the upper reflection of raindrop (4) on the outside (2.2) of glass (2) directly support as other light beam (rh)
Reach video camera (1), and this at least one light beam (r2 arriving at video camera (1) can be measured by video camera (1)；R2 ') and
The light quantity of the other light beam (rh) of the upper reflection of the raindrop (4) on the outside (2.2) of glass (2).
2. device as claimed in claim 1, wherein, arranges the light beam (h produced by lighting source (3)；N) angle of incidence, makes
If obtaining and there is no rainwater (4) on glass (2) outside (2.2), then arrive in the light beam (t1) of glass (2) outside (2.2) and occur instead
That penetrates is partially larger than the part (t2) from glass outgoing.
3. device as claimed in claim 1 or 2, wherein, described device includes analytic unit, and this analytic unit is by glass
(2) light beam (r2 of the upper reflection in outside (2.2)；R2 ') measured light quantity determine glass (2) outside (2.2) the most rainy
Water (4).
Device the most according to claim 3, wherein, analytic unit will be at the light beam of the upper reflection of glass (2) outside (2.2)
(r2；R2 ') measured light quantity make comparisons with a threshold value.
5. device as claimed in claim 3, wherein, analytic unit measures by the imageing sensor (5) of video camera (1) measured
The light beam (r2 in the upper reflection of glass (2) outside (2.2)；R2 ') light value over time.
6. device as claimed in claim 1 or 2, wherein, lighting source (3) is by described at least one light beam (h；N) so penetrate
To glass (2) so that the light beam (r1 reflected from glass inner side (2.1) and outside (2.2)；R2, r2 ') as at least two space
Light beam (the r1 separated；R2, r2 ') arrive at video camera (1), and can be measured by video camera (1) arrive at video camera (1) this extremely
Few two light beam (r1；R2, r2 ') light quantity.
7. device as claimed in claim 1 or 2, wherein, lighting source (3) is structurally integrated into the housing of video camera (1)
In.
8. device as claimed in claim 7, wherein, lighting source (3) is disposed under the covering plate (11) of video camera (1)
Side.
9. device as claimed in claim 8, wherein, lighting source (3) produces the light in infrared wavelength range, and covering plate
(11) it is at least light-permeable in infrared wavelength range in the subregion being positioned at lighting source (3) top.
10. device as claimed in claim 7, wherein, lighting source (3) is disposed in the circuit carrier (12) of video camera (1)
On.
11. devices as claimed in claim 1 or 2, wherein, lighting source (3) only produces wavelength in particular range of wavelengths
Light, and in video camera (1) light path, the first spectral filter be arranged on described at least one at glass (2) outside (2.2)
Light beam (the r2 of upper reflection；R2 ') in the region that passes therethrough, wherein the first spectral filter allows wavelength at described specific wavelength
In the range of light pass through.
12. devices as claimed in claim 6, wherein, lighting source (3) only produces wavelength light in particular range of wavelengths,
And in video camera (1) light path, the first spectral filter be arranged on described at least one on glass (2) outside (2.2)
Light beam (the r2 of reflection；R2 ') in the region that passes therethrough, wherein the first spectral filter allows wavelength at described specific wavelength model
Enclose interior light to pass through.
13. devices as claimed in claim 12, wherein, the second spectral filter is arranged on described at least two and is spatially separating
Reflection light beam (r1；R2, r2 ') in the range of the light path that do not passes therethrough, wherein the second spectral filter stops that wavelength is in institute
State the light in particular range of wavelengths.
14. devices as claimed in claim 13, wherein, video camera (1) includes imageing sensor (5), and the filter of the first spectrum
Ripple device or the two spectral filter are applied directly in the pixel of imageing sensor (5).
15. devices as claimed in claim 1 or 2, wherein, lighting source (3) produces the light beam (h) assembled.
16. devices as claimed in claim 1 or 2, wherein, produced by lighting source (3), light beam (h) is by optical conductor (13)
Directive glass (2).
17. are used for the method identifying the rainwater (4) on glass (2) outside (2.2), by means of
-be arranged in glass (2) and below and focus on the video camera (1) of remote zone in glass front,
-it is used for producing at least one light beam (h of directive glass (2)；N) lighting source (3), wherein lighting source (3) is by institute
State at least one light beam (h；N) glass (2) so it is emitted directly toward so that at least one is partially reflective from glass (2) outside (2.2)
Light beam (r2；R2 ') and the light of the upper reflection of raindrop (4) on the outside (2.2) of glass (2) straight as other light beam (rh)
Abut and reach video camera (1), pass through
-measure at least one light beam (r2 reflected from glass (2) outside (2.2) described by means of video camera (1)；R2 ') and
The light quantity of the other light beam (rh) of the upper reflection of the raindrop (4) on the outside (2.2) of glass (2), and pass through
-analyze at least one light beam (r2 reflected from glass (2) outside (2.2) described；R2 ') and in the outside of glass (2)
(2.2) the measured light quantity of the other light beam (rh) of the upper reflection of the raindrop (4) on, in detection glass (2) outside (2.2)
Rainwater (4).
18. by means of identifying the rainwater (4) on glass (2) outside (2.2) according to the device one of claim 1 to 16 Suo Shu
Method, wherein, utilize video camera (1):
-when lighting source (3) cuts out, shoot the first image,
-when lighting source (3) is connected, shoot the second image,
-formed difference image by the second and first image, and
-in difference image, analyze at least one light beam (r2 above reflected at glass (2) outside (2.2) described；R2 ') and
The light quantity of the other light beam (rh) of the upper reflection of the raindrop (4) on the outside (2.2) of glass (2), thus detect glass (2) outside
(2.2) rainwater (4) on.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010052968 | 2010-11-30 | ||
| DE102010052968.0 | 2010-11-30 | ||
| PCT/DE2011/001749 WO2012092911A1 (en) | 2010-11-30 | 2011-09-20 | Detection of raindrops on a pane by means of a camera and lighting |
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| Publication Number | Publication Date |
|---|---|
| CN103221805A CN103221805A (en) | 2013-07-24 |
| CN103221805B true CN103221805B (en) | 2016-10-12 |
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ID=45560604
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180056008.4A Active CN103221805B (en) | 2010-11-30 | 2011-09-20 | The raindrop on glass pane are detected by means of video camera and illuminator |
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| US (1) | US9335264B2 (en) |
| EP (1) | EP2646802A1 (en) |
| JP (1) | JP5944405B2 (en) |
| KR (1) | KR101903981B1 (en) |
| CN (1) | CN103221805B (en) |
| DE (1) | DE112011102968A5 (en) |
| WO (1) | WO2012092911A1 (en) |
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2011
- 2011-09-20 WO PCT/DE2011/001749 patent/WO2012092911A1/en active Application Filing
- 2011-09-20 US US13/885,552 patent/US9335264B2/en active Active
- 2011-09-20 KR KR1020137016837A patent/KR101903981B1/en active IP Right Grant
- 2011-09-20 EP EP11815609.0A patent/EP2646802A1/en not_active Withdrawn
- 2011-09-20 JP JP2013542369A patent/JP5944405B2/en not_active Expired - Fee Related
- 2011-09-20 CN CN201180056008.4A patent/CN103221805B/en active Active
- 2011-09-20 DE DE112011102968T patent/DE112011102968A5/en not_active Withdrawn
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| EP1580092A2 (en) * | 2004-03-26 | 2005-09-28 | Robert Bosch Gmbh | Camera in a vehicle |
| CN101896375A (en) * | 2007-12-20 | 2010-11-24 | 罗伯特.博世有限公司 | Method for plausibility testing of at least one light detector of a headlight assistance device of a motor vehicle |
| DE102009000003A1 (en) * | 2009-01-02 | 2010-07-08 | Robert Bosch Gmbh | Camera arrangement for detecting a wheel condition of a vehicle window |
Also Published As
| Publication number | Publication date |
|---|---|
| US20130235381A1 (en) | 2013-09-12 |
| DE112011102968A5 (en) | 2013-07-04 |
| JP5944405B2 (en) | 2016-07-05 |
| CN103221805A (en) | 2013-07-24 |
| WO2012092911A1 (en) | 2012-07-12 |
| KR20130123412A (en) | 2013-11-12 |
| KR101903981B1 (en) | 2018-10-05 |
| JP2014502360A (en) | 2014-01-30 |
| EP2646802A1 (en) | 2013-10-09 |
| US9335264B2 (en) | 2016-05-10 |
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